/*
 * This file is part of the Sx Framework Library.
 * 
 * Copyright (C) 2013 University of Colorado Denver
 * <min.choi@ucdenver.edu> <shane.transue@ucdenver.edu>
 * 
 * Permission is hereby granted, free of charge, to any person obtaining a copy 
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 
 * copies of the Software, and to permit persons to whom the Software is 
 * furnished to do so, subject to the following conditions:
 * 
 * The above copyright notice and this permission notice shall be included in 
 * all copies or substantial portions of the Software.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING 
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER 
 * DEALINGS IN THE SOFTWARE.
 */
#ifndef SX_DISCRETE_PHYSICAL_REPRESENTATION_H
#define SX_DISCRETE_PHYSICAL_REPRESENTATION_H

#include <sxMath.h>
#include <sxPhysicalRepresentation.h>
#include <sxDiscreteIntegrator.h>
#include <sxDiscreteState.h>
#include <sxArrayList.h>

namespace Sx {
namespace Physics {

class DiscretePhysicalRepresentation : public PhysicalRepresentation<DiscreteState> {
public:
	DiscretePhysicalRepresentation() {}
	virtual ~DiscretePhysicalRepresentation() {}

	virtual bool construct() = 0;
	virtual void update(double dt) = 0;

	void addNode(const Eigen::Vector3d& node);
	void addVertex(const Eigen::Vector3d& vertex);
	void addVertexNormal(const Eigen::Vector3d& normal);
	void addFaceNormal(const Eigen::Vector3d& normal);

	void setIntegrator(DiscreteIntegrator* integrator);

	DiscreteIntegrator* const getIntegrator() const;

	Eigen::Vector3d getVertex(unsigned int index) const;
	Eigen::Vector3d getNodePrevPosition(unsigned int index) const;
	Eigen::Vector3d getNodePrevVelocity(unsigned int index) const;
	Eigen::Vector3d getVertexNormal(unsigned int index) const;
	Eigen::Vector3d getFaceNormal(unsigned int index) const;

	Util::ArrayList<Eigen::Vector3d>& getVertices();
	Util::ArrayList<Eigen::Vector3d>& getPreviousVertices();
	Util::ArrayList<Eigen::Vector3d>& getVertexNormals();
	Util::ArrayList<Eigen::Vector3d>& getFaceNormals();

	/* Stores the current set of vertices into the previous vertex array. */
	bool updatePreviousVertices();

protected:
	Util::ArrayList<Eigen::Vector3d> vertices;
	Util::ArrayList<Eigen::Vector3d> previousVertices;
	Util::ArrayList<Eigen::Vector3d> vertexNormals;
	Util::ArrayList<Eigen::Vector3d> faceNormals;

	/* POINTER_OWNERSHIP: YES */
	DiscreteIntegrator* integrator;
};

}

}

#endif
